A piezoelectric force/force-derivative sensor for robotic applications
説明
A shear-type piezoelectric sensor is used for sensing both force and force derivative signals. Compared to a conventional multilayer-type piezoelectric cell, it has advantages of simple structure, low drive voltage and light weight. The proposed sensor is used for contact force control of an one-degree of freedom robot manipulator, and the effectiveness of force derivative feedback control is demonstrated through experimental results. A comparison is made with results obtained using strain gauge force sensor.
収録刊行物
-
- SICE '95. Proceedings of the 34th SICE Annual Conference. International Session Papers
-
SICE '95. Proceedings of the 34th SICE Annual Conference. International Session Papers 1147-1150, 2002-11-19
Soc. Instrum. & Control Eng
